变结构优化控制在MAV姿态控制中的研究

研究微型飞行器姿态控制问题.由于微型飞行器（MAV）体积小,重量轻,使其容易受到外界干扰的影响,而且飞行器还具有非线性、变系数、纯延迟、惯性、交叉耦合等特点,更加大了对其进行姿态控制的难度.该文采用一种改进的遗传算法,与传统最优化方法相结合,快速地以较大的概率收敛到全局最优解,以此寻求优化控制.同时,利用变结构控制方法的滑动模态对系统干扰和系统摄动具有完全的自适应的特点又使外部干扰的影响减到最小.通过计算机仿真,表明该方法具有优良的控制品质和鲁棒性.

Variable Structure Optimizing Control Method Used in the Attitude Control of Micro Air Vehicle

Because of the small cubage and lightness of MAV,the control of the attitude of MAV is very sensitive to the external disturbance.What's more,MAV has such characteristics as non-linearity,variable coefficient,inertia,pure delay,and cross coupling and so on.All these add the difficulty of control.Here,we take an advanced genetic algorithm combined with traditional optimization method to quickly get the globally optimal solution in convergence by more probability.In this way,we find an optimization control method.At the same time,the slippage mode of variable control is completely adaptive to system disturber and system perturbation makes the influences of external interference to minimum.Simulation results prove that this control method has perfect control quality and a robust nature.